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Last active August 27, 2023 13:12
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minimal.hal
loadrt stepgen step_type=0,0 ctrl_type=v,v
loadrt siggen
loadrt threads name1=fast fp1=0 period1=50000 name2=slow period2=1000000
loadrt hal_pi_gpio dir=-1 exclude=0
addf siggen.0.update slow
addf stepgen.update-freq slow
addf stepgen.make-pulses fast
setp stepgen.0.position-scale 10000
net xstep stepgen.0.step => hal_pi_gpio.pin-03-out
net X-vel siggen.0.cosine => stepgen.0.velocity-cmd
setp stepgen.0.enable 1
start
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